US10895875B2 - Autonomous driving system - Google Patents

Autonomous driving system Download PDF

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Publication number
US10895875B2
US10895875B2 US15/806,801 US201715806801A US10895875B2 US 10895875 B2 US10895875 B2 US 10895875B2 US 201715806801 A US201715806801 A US 201715806801A US 10895875 B2 US10895875 B2 US 10895875B2
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Prior art keywords
control
autonomous driving
driver
steering
ready state
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US15/806,801
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US20180150074A1 (en
Inventor
Ryuta Hashimoto
Kenichiro Aoki
Yoshinori Watanabe
Daisuke Satoh
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Denso Corp
Toyota Motor Corp
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Denso Corp
Toyota Motor Corp
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Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, DENSO CORPORATION reassignment TOYOTA JIDOSHA KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SATOH, DAISUKE, AOKI, KENICHIRO, WATANABE, YOSHINORI, Hashimoto, Ryuta
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K35/28—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B60K2360/175—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00—Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/16—Type of information
    • B60K2370/175—Autonomous driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0872—Driver physiology
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/205—Steering speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/21—Voice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/225—Direction of gaze
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance

Definitions

  • the present disclosure relates to an autonomous driving system of a vehicle.
  • the present disclosure relates to a control technique at a time of deactivating autonomous driving.
  • Patent Literature 1 discloses an autonomous driving system of a vehicle. During autonomous driving, the autonomous driving system monitors a driver's operation of a steering wheel, a brake pedal, or an accelerator pedal. When an amount of the operation exceeds a threshold value, the autonomous driving system deactivates the autonomous driving control and returns vehicle control to the driver.
  • An object of the present disclosure is to provide an autonomous driving technique where the driver can deactivate the autonomous driving without worry.
  • a first aspect of the present disclosure provides an autonomous driving system.
  • the autonomous driving system includes:
  • a driver information acquisition device configured to acquire driver information indicating an action and a state of a driver of a vehicle
  • control device configured to perform autonomous driving control that controls autonomous driving of the vehicle.
  • the autonomous driving control includes:
  • deactivating action detection processing that detects, based on the driver information, a deactivating action of the driver to deactivate the autonomous driving
  • ready state detection processing that detects, based on the driver information, a ready state indicating that the driver is ready for manual driving
  • deactivation processing that deactivates the autonomous driving when the ready state is detected after the deactivating action is detected.
  • a second aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the ready state is that the driver is holding a steering wheel.
  • a third aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the ready state is that a steering torque, a steering amount, or a steering speed of a steering operation by the driver is greater than a threshold value.
  • a fourth aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the ready state is that the driver is performing at least one of a steering operation, an acceleration operation, and a braking operation.
  • a fifth aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the deactivating action is that the driver performs at least one of a steering operation, an acceleration operation, and a braking operation.
  • the ready state is that the driver is performing a same operation as the deactivating action again.
  • a sixth aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the deactivating action is that the driver performs at least one of a steering operation, an acceleration operation, and a braking operation with a first operation amount or more.
  • the ready state is that the driver is performing a same operation as the deactivating action with a second operation amount or more, the second operation amount being larger than the first operation amount.
  • a seventh aspect of the present disclosure further has the following features in addition to the first aspect of the present disclosure.
  • the control device calculates, based on the driver information, a level of attentiveness of the driver with respect to a front direction.
  • the ready state is that the level of attentiveness is greater than a reference value.
  • An eighth aspect of the present disclosure further has the following features in addition to any one of the first to seventh aspect of the present disclosure.
  • the autonomous driving control includes steering control, acceleration control, and deceleration control.
  • the control device performs deactivation standby control that continues at least one of the steering control, the acceleration control, and the deceleration control.
  • a ninth aspect of the present disclosure further has the following features in addition to the eighth aspect of the present disclosure.
  • the control device continues at least the steering control.
  • a tenth aspect of the present disclosure further has the following features in addition to the eighth or ninth aspect of the present disclosure.
  • the control device terminates the acceleration control.
  • the autonomous driving system does not deactivate the autonomous driving just by detecting the deactivating action of the driver.
  • the autonomous driving system deactivates the autonomous driving only after detecting the ready state after the detection of the deactivating action. That is, the autonomous driving system waits until the driver becomes ready for the manual driving after the detection of the deactivating action of the driver. Therefore, it is possible to obviate such a situation that the vehicle continues to travel while neither the driver nor the autonomous driving system engages in vehicle driving.
  • the driver need not feel rushed under pressure to start the manual driving as soon as possible after the deactivating action. These relieve psychological pressure applied to the driver and the driver's sense of unease. As a result, according to the present disclosure, the driver can deactivate the autonomous driving without worry.
  • FIG. 1 is a conceptual diagram for explaining an outline of an autonomous driving system according to an embodiment of the present disclosure
  • FIG. 2 is a block diagram showing a configuration example of the autonomous driving system according to the embodiment of the present disclosure
  • FIG. 3 is a block diagram showing a configuration example of a driver state sensor in the autonomous driving system according to the embodiment of the present disclosure
  • FIG. 4 is a block diagram showing a configuration example of a driving operation sensor in the autonomous driving system according to the embodiment of the present disclosure
  • FIG. 5 is a block diagram showing a configuration example of an HMI unit in the autonomous driving system according to the embodiment of the present disclosure
  • FIG. 6 is a block diagram showing a functional configuration example of a control device in the autonomous driving system according to the embodiment of the present disclosure
  • FIG. 7 is a block diagram showing a functional configuration example of an autonomous driving deactivation unit in the autonomous driving system according to the embodiment of the present disclosure.
  • FIG. 8 is a flow chart showing autonomous driving deactivation processing by the autonomous driving system according to the present disclosure.
  • FIG. 1 is a conceptual diagram for explaining an outline of an autonomous driving system according the present embodiment.
  • a feature when the autonomous driving system deactivates autonomous driving of a vehicle will be described.
  • two conditions are required for deactivating the autonomous driving.
  • a first condition is to detect a “deactivating action”.
  • the deactivating action is an action performed by a driver of the vehicle to deactivate the autonomous driving. It can be said that the deactivating action reflects the driver's intention of deactivating the autonomous driving. For example, the deactivating action is that “the driver turns OFF an autonomous driving switch”.
  • a content of the deactivating action is predetermined and registered on the autonomous driving system. While executing the autonomous driving control, the autonomous driving system determines whether or not the driver performs the deactivating action. In other words, the autonomous driving system performs detection of the deactivating action during the autonomous driving. It should be noted that types of the deactivating action registered on the autonomous driving system can be plural. In that case, detecting the deactivating action means detecting at least one of the plural types of the deactivating action.
  • the autonomous driving system detects the deactivating action at a time t 1 .
  • the autonomous driving system according to the present embodiment does not immediately deactivate the autonomous driving even when the deactivating action is detected. Even if the first condition is satisfied, the autonomous driving system continues the autonomous driving until a second condition is satisfied.
  • the second condition is to detect a “ready state”.
  • the ready state is a state indicating that the driver is ready for manual driving. It can be said that the ready state indicates that shift from the autonomous driving to the manual driving can be performed safely. For example, the ready state is that “the driver is holding a steering wheel”.
  • a content of the ready state is predetermined and registered on the autonomous driving system. After the deactivating action is detected, the autonomous driving system checks whether or not the driver is in the ready state. In other words, the autonomous driving system performs detection of the ready state. It should be noted that types of the ready state registered on the autonomous driving system can be plural. In that case, detecting the ready state means detecting at least one of the plural types of the ready state.
  • the autonomous driving system detects the ready state at a time t 2 .
  • the autonomous driving system deactivates the autonomous driving. Then, the manual driving by the driver starts.
  • the autonomous driving system performs “deactivation standby control”.
  • the autonomous driving system continues at least a part of control related to the autonomous driving. More specifically, the control related to the autonomous driving includes steering control, acceleration control, and deceleration control.
  • the autonomous driving system continues at least one of the steering control, the acceleration control, and the deceleration control.
  • the autonomous driving system does not deactivate the autonomous driving just by detecting the deactivating action of the driver.
  • the autonomous driving system deactivates the autonomous driving only after detecting the ready state after the detection of the deactivating action. That is, the autonomous driving system waits until the driver becomes ready for the manual driving after the detection of the deactivating action of the driver. Therefore, it is possible to obviate such a situation that the vehicle continues to travel while neither the driver nor the autonomous driving system engages in vehicle driving.
  • the driver need not feel rushed under pressure to start the manual driving as soon as possible after the deactivating action. These relieve psychological pressure applied to the driver and the driver's sense of unease.
  • the driver can deactivate the autonomous driving without worry. This contributes to increase in the driver's confidence in the autonomous driving system. That is to say, it becomes easier for the driver to utilize the autonomous driving system.
  • FIG. 2 is a block diagram showing a configuration example of the autonomous driving system 1 according to the present embodiment.
  • the autonomous driving system 1 is mounted on the vehicle and controls the autonomous driving of the vehicle. More specifically, the autonomous driving system 1 is provided with a travel device 10 , a driving operation member 20 , a sensor group 30 , an HMI unit 80 , and a control device 100 .
  • the travel device 10 includes a steering device, a driving device, a braking device, a transmission, and so forth.
  • the steering device turns wheels.
  • the driving device is a power source that generates a driving force.
  • the driving device is exemplified by an engine and an electric motor.
  • the braking device generates a braking force.
  • the driving operation member 20 is a member that the driver operates when manually driving the vehicle.
  • the driver can control the travel device 10 by operating the driving operation member 20 .
  • the driving operation member 20 includes a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and so forth.
  • the steering wheel is operated for turning the wheel through the steering device.
  • the accelerator pedal is operated for controlling the driving device.
  • the brake pedal is operated for controlling the braking device.
  • the shift lever (select lever) is operated for selecting a gear of the transmission.
  • the sensor group 30 is provided for detecting a variety of information. More specifically, the sensor group 30 includes a driver state sensor 40 , a driving operation sensor 50 , a vehicle state sensor 60 , and an environment sensor 70 .
  • the driver state sensor 40 is a sensor for detecting a state of the driver.
  • FIG. 3 is a block diagram showing a configuration example of the driver state sensor 40 .
  • the driver state sensor 40 includes a steering wheel touch sensor 41 and a driver monitor 42 .
  • the steering wheel touch sensor 41 is provided for detecting whether or not the driver is holding the steering wheel. More specifically, the steering wheel touch sensor 41 is installed at a section of the steering wheel to be held by the driver. The steering wheel touch sensor 41 is capable of detecting whether or not a hand of the driver is touching the steering wheel, a touched position, a touch pressure, and the like. The steering wheel touch sensor 41 sends the detected information to the control device 100 .
  • the driver monitor 42 detects a state of the driver through imaging. More specifically, the driver monitor includes an imaging device such as an infrared camera. The imaging device is installed at a position (e.g. on a steering wheel column cover) where it can image a face of the driver. The driver monitor 42 is capable of detecting various kinds of the state of the driver by analyzing an image obtained by the imaging device. For example, the driver monitor 42 can detect an orientation of the face, a direction of eyes, and an eye opening/closing degree of the driver. The driver monitor 42 sends the detected information to the control device 100 .
  • an imaging device such as an infrared camera.
  • the imaging device is installed at a position (e.g. on a steering wheel column cover) where it can image a face of the driver.
  • the driver monitor 42 is capable of detecting various kinds of the state of the driver by analyzing an image obtained by the imaging device. For example, the driver monitor 42 can detect an orientation of the face, a direction of eyes, and an eye opening/closing degree
  • the driving operation sensor 50 is a sensor for detecting an operation of the driving operation member 20 by the driver.
  • FIG. 4 is a block diagram showing a configuration example of the driving operation sensor 50 .
  • the driving operation sensor 50 includes a steering wheel angle sensor 51 , a torque sensor 52 , an accelerator pedal sensor 53 , a brake sensor 54 , and a gear position sensor 55 .
  • the steering wheel angle sensor 51 detects a steering angle of the steering wheel.
  • the torque sensor 52 detects a steering torque at the time of steering.
  • the accelerator pedal sensor 53 detects a stroke amount of the accelerator pedal.
  • the brake sensor 54 detects a stroke amount of the brake pedal.
  • the gear position sensor 55 detects a position of the shift lever. Each sensor sends the detected information to the control device 100 .
  • the vehicle state sensor 60 is a sensor for detecting a state of the vehicle.
  • the vehicle state sensor 60 includes a GPS (Global Positioning System) device, a vehicle speed sensor, and so forth.
  • the GPS device receives signals transmitted from a plurality of GPS satellites and calculates a position and a posture (orientation) of the vehicle based on the received signals.
  • the vehicle speed sensor detects a speed of the vehicle.
  • the vehicle state sensor 60 sends the detected information to the control device 100 .
  • the environment sensor 70 is a sensor for detecting an environment (situation) around the vehicle.
  • Such the environment sensor 70 is exemplified by a LIDAR (Laser Imaging Detection and Ranging), a millimeter-wave radar, a stereo camera, and so forth.
  • the environment sensor 70 detects a moving target and a stationary target around the vehicle.
  • the moving target is exemplified by a surrounding vehicle and a pedestrian.
  • Information on the moving target includes a position and a speed of the moving target.
  • the stationary target is exemplified by a roadside structure, a white line, and a road sign. Information of the stationary target includes a position of the stationary target.
  • the environment sensor 70 sends the detected information to the control device 100 .
  • the HMI (Human Machine Interface) unit 80 is a device for proving the driver with information and receiving information and instructions from the driver.
  • FIG. 5 is a block diagram showing a configuration example of the HMI unit 80 .
  • the HMI unit 80 includes a display device 81 , an input device 82 , a speaker 83 , a microphone 84 , an autonomous driving switch 85 , and a navigation unit 86 .
  • the display device 81 displays a variety of information.
  • the display device 81 is exemplified by a liquid crystal display and a touch panel.
  • the input device 82 is used by the driver for inputting information or an instruction.
  • the input device 82 is exemplified by a button, a switch, and a touch panel.
  • the speaker 83 outputs voice information.
  • the microphone 84 is used for inputting voice information. For example, the microphone 84 detects voice of the driver.
  • the driver can give information and an instruction to the control device 100 through the input device 82 and the microphone 84 .
  • the control device 100 can provide the driver with a variety of information through the display device 81 and the speaker 83 .
  • the autonomous driving switch 85 is a switch used for instructing ON/OFF of the autonomous driving.
  • the autonomous driving switch 85 may be a part of the input device 82 .
  • An ON/OFF operation of the autonomous driving switch 85 by the driver is transmitted to the control device 100 .
  • the driver can instruct the control device 100 to activate the autonomous driving.
  • the driver can instruct the control device 100 to deactivate the autonomous driving.
  • the navigation unit 86 manages navigation information.
  • the navigation information includes a map, a current position of the vehicle, a destination, a route to the destination, and so forth.
  • the navigation unit 86 displays the navigation information on the display device 81 .
  • the navigation unit 86 receives setting or change of the destination from the driver through the input device 82 .
  • the navigation unit 86 provides the driver with a variety of information through the display device 81 and the speaker 83 .
  • the navigation unit 86 shares the navigation information with the control device 100 .
  • the driver state sensor 40 (see FIG. 3 ), the driving operation sensor 50 (see FIG. 4 ), and the HMI unit 80 (see FIG. 5 ) described above constitute a driver information acquisition device 90 .
  • the driver information acquisition device 90 acquires “driver information” indicating the action and the state of the driver.
  • the driver information includes the state of the driver detected by the driver state sensor 40 .
  • the driver information includes the action of the driver (i.e. the operation of the driving operation member 20 ) detected by the driving operation sensor 50 .
  • the driver information includes an input action of the driver using the HMI unit 80 .
  • the input action includes an operation of the input device 82 , utterance detected by the microphone 84 , the ON/OFF operation of the autonomous driving switch 85 , an operation of setting and change of the destination with respect to the navigation unit 86 , and the like.
  • Control Device 100 Control Device 100
  • the control device 100 performs the “autonomous driving control” that controls the autonomous driving of the vehicle.
  • the control device 100 is a microcomputer including a processor, a memory, and an input/output interface.
  • the control device 100 is also called an ECU (Electronic Control Unit).
  • the control device 100 receives the detected information from the sensor group 30 and communicates information with the HMI unit 80 through the input/output interface.
  • the control device 100 performs the autonomous driving control based on the received information. For example, the control device 100 creates a travel plan of the vehicle and controls the travel device 10 so that the vehicle travels according to the travel plan.
  • the contents of the “deactivating action” and the “ready state”, which are explained in FIG. 1 are recorded on the memory of the control device 100 .
  • the control device 100 is able to detect the deactivating action and the ready state based on the driver information acquired by the driver information acquisition device 90 .
  • FIG. 6 is a block diagram showing a functional configuration example of the control device 100 according to the present embodiment.
  • the control device 100 includes an information acquisition unit 110 , an autonomous driving activation unit 120 , an autonomous driving execution unit 130 , and an autonomous driving deactivation unit 140 as functional blocks related to the autonomous driving control. These functional blocks are achieved by the processor of the control device 100 executing a control program stored in the memory.
  • the control program may be recorded on a computer-readable recording medium.
  • the information acquisition unit 110 acquires the detected information from the sensor group 30 .
  • the information acquisition unit 110 acquires the information and instructions input to the HMI unit 80 by the driver.
  • the information acquisition unit 110 acquires the above-described driver information from the driver information acquisition device 90 . It should be noted that the information acquisition unit 110 repeatedly executes this information acquisition processing every certain cycle.
  • the autonomous driving activation unit 120 determines whether or not to activate the autonomous driving control. More specifically, the autonomous driving activation unit 120 receives the driver information from the information acquisition unit 110 . Then, the autonomous driving activation unit 120 determines, based on the received driver information, whether a activation condition is satisfied or not. For example, the activation condition is that “the autonomous driving switch 85 is turned ON”. If the activation condition is satisfied, the autonomous driving activation unit 120 determines to activate the autonomous driving control and instructs the autonomous driving execution unit 130 to execute the autonomous driving control.
  • the autonomous driving execution unit 130 executes the autonomous driving control. More specifically, the autonomous driving execution unit 130 receives the information acquired by the information acquisition unit 110 . Based on the received information, the autonomous driving execution unit 130 creates a travel plan of the vehicle and controls the travel device 10 so that the vehicle travels according to the travel plan.
  • the autonomous driving execution unit 130 determines a travel plan including a travel route, a lane change point and the like, based on the current position of the vehicle, the destination, the map data and the like.
  • the autonomous driving execution unit 130 may detect an obstacle (e.g. a low-speed vehicle, a fallen object) in front of the vehicle, based on the detected information from the environment sensor 70 .
  • the autonomous driving execution unit 130 determines a travel plan including an avoidance behavior for avoiding the obstacle.
  • the autonomous driving execution unit 130 controls the travel device 10 so that the vehicle travels according to the travel plan.
  • the control of the travel device 10 includes the steering control for controlling the steering device, the acceleration control for controlling the driving device, and the deceleration control for controlling the braking device.
  • the autonomous driving deactivation unit 140 determines whether or not to deactivate the autonomous driving control. More specifically, the autonomous driving deactivation unit 140 receives the driver information from the information acquisition unit 110 . Then, the autonomous driving deactivation unit 140 determines, based on the received driver information, whether a deactivation condition is satisfied or not.
  • the deactivation condition includes the first condition and the second condition described in FIG. 1 . If the deactivation condition is satisfied, the autonomous driving deactivation unit 140 determines to deactivate the autonomous driving control and instructs the autonomous driving execution unit 130 to terminate execution of the autonomous driving control.
  • autonomous driving deactivation processing by the autonomous driving deactivation unit 140 according to the present embodiment will be described in more detail.
  • FIG. 7 is a block diagram showing a functional configuration example of the autonomous driving deactivation unit 140 according to the present embodiment.
  • the autonomous driving deactivation unit 140 includes a deactivating action detection unit 141 , a ready state detection unit 142 , and a deactivation standby control unit 143 .
  • FIG. 8 is a flow chart showing the autonomous driving deactivation processing by the autonomous driving deactivation unit 140 .
  • the autonomous driving deactivation processing is performed when the autonomous driving control is in execution.
  • Step S 1 Deactivating Action Detection Processing
  • the deactivating action detection unit 141 performs deactivating action detection processing that detects the “deactivating action” based on the driver information.
  • the deactivating action detection processing corresponds to determining whether the first condition described in FIG. 1 is satisfied or not.
  • the deactivating action is an action of the driver to deactivate the autonomous driving.
  • a content of the deactivating action is predetermined and registered on the memory of the control device 100 .
  • Types of the deactivating action registered can be plural. In that case, detecting the deactivating action means detecting at least one of the plural types of the deactivating action. Examples of the deactivating action are as follows.
  • a first example is that the driver turns OFF the autonomous driving switch 85 (see FIG. 5 ).
  • a second example is that the driver performs a braking operation.
  • the braking operation by the driver can be detected through the brake sensor 54 (see FIG. 4 ). More specifically, the brake sensor 54 detects a stroke amount of the brake pedal due to the braking operation. For example, when the stroke amount of the brake pedal exceeds a threshold value, the deactivating action detection unit 141 judges that the braking operation is performed.
  • a third example is that the driver performs an acceleration operation.
  • the acceleration operation by the driver can be detected through the accelerator pedal sensor 53 (see FIG. 4 ). More specifically, the accelerator pedal sensor 53 detects a stroke amount of the accelerator pedal due to the acceleration operation. For example, when the stroke amount of the accelerator pedal exceeds a threshold value, the deactivating action detection unit 141 judges that the acceleration operation is performed.
  • a fourth example is that the driver performs a steering operation.
  • the steering operation by the driver can be detected through the steering wheel angle sensor 51 or the torque sensor 52 (see FIG. 4 ). More specifically, a steering amount and a steering speed of the steering operation can be calculated from the steering angle of the steering wheel detected by the steering wheel angle sensor 51 .
  • a steering torque of the steering operation can be detected by the torque sensor 52 . For example, when the steering amount, the steering speed, or the steering torque exceeds a threshold value, the deactivating action detection unit 141 judges that the steering operation is performed.
  • a fifth example is that the driver sets the position of the shift lever to “P (PARKING)”. If the position of the shift lever becomes “P”, it is required to deactivate the autonomous driving for safety reasons.
  • the position of the shift lever can be detected by the gear position sensor 55 (see FIG. 4 ).
  • a sixth example is that the driver utters a specific phrase.
  • the utterance by the driver can be detected through the microphone 84 (see FIG. 5 ).
  • the specific phrase is exemplified by “deactivate autonomous driving” and the like.
  • the deactivating action detection unit 141 can detect that the driver utters the specific phrase.
  • a seventh example is that the driver changes or deletes the setting of the destination.
  • the change or deletion of the setting of the destination can be detected through the navigation unit 86 (see FIG. 5 ).
  • Step S 1 If the deactivating action detection unit 141 does not detect the deactivating action (Step S 1 ; No), the autonomous driving continues (Step S 0 ). On the other hand, if the deactivating action detection unit 141 detects the deactivating action (Step S 1 ; Yes), it means that the first condition is satisfied. In this case, the processing proceeds to Step S 2 .
  • Step S 2 Ready State Detection Processing
  • the ready state detection unit 142 performs ready state detection processing that detects the “ready state” based on the driver information.
  • the ready state detection processing corresponds to determining whether the second condition described in FIG. 1 is satisfied or not.
  • the ready state is a state indicating that the driver is ready for the manual driving.
  • the content of the ready state is predetermined and registered on the memory of the control device 100 .
  • Types of the ready state registered can be plural. In that case, detecting the ready state means detecting at least one of the plural types of the ready state. Examples of the ready state are as follows.
  • a first example is that the driver is holding the steering wheel. Whether or not the driver is holding the steering wheel can be determined by a well-known method based on the detected information from the steering wheel touch sensor 41 (see FIG. 3 ). The fact that the driver is holding the steering wheel suggests strongly that the driver is conscious of driving and ready for the manual driving.
  • a second example is that the driver is performing a steering operation.
  • the steering operation by the driver can be detected through the steering wheel angle sensor 51 or the torque sensor 52 (see FIG. 4 ). More specifically, a steering amount and a steering speed of the steering operation can be calculated from the steering angle of the steering wheel detected by the steering wheel angle sensor 51 .
  • a steering torque of the steering operation can be detected by the torque sensor 52 .
  • the ready state detection unit 142 judges that the driver is performing the steering operation.
  • the fact that the steering amount, the steering speed, or the steering torque is greater than the threshold value suggests that a hand of the driver does not accidentally touch the steering wheel but the driver is actively operating the steering wheel. That is, it strongly suggests that the driver is conscious of driving and ready for the manual driving.
  • a third example is that the driver is performing an acceleration operation.
  • the acceleration operation by the driver can be detected through the accelerator pedal sensor 53 (see FIG. 4 ). More specifically, the accelerator pedal sensor 53 detects a stroke amount of the accelerator pedal due to the acceleration operation. For example, when the stroke amount of the accelerator pedal is greater than a threshold value, the ready state detection unit 142 judges that the driver is performing the acceleration operation.
  • the fact that the stroke amount of the accelerator pedal is greater than the threshold value suggests that a foot of the driver does not accidentally touch the accelerator pedal but the driver is actively operating the accelerator pedal. That is, it strongly suggests that the driver is conscious of driving and ready for the manual driving.
  • a fourth example is that the driver is performing a braking operation.
  • the braking operation by the driver can be detected through the brake sensor 54 (see FIG. 4 ). More specifically, the brake sensor 54 detects a stroke amount of the brake pedal due to the braking operation. For example, when the stroke amount of the brake pedal is greater than a threshold value, the ready state detection unit 142 judges that the driver is performing the braking operation.
  • the fact that the stroke amount of the brake pedal is greater than the threshold value suggests that a foot of the driver does not accidentally touch the brake pedal but the driver is actively operating the brake pedal. That is, it strongly suggests that the driver is conscious of driving and ready for the manual driving.
  • a fifth example is applied to a case where the deactivating action in Step S 1 described above is one of the steering operation, the acceleration operation, and the braking operation. More specifically, the fifth example is that the driver is performing the same operation as the deactivating action again. For example, the driver steps on the brake pedal as the deactivating action and then steps on the brake pedal again. Thereby, it is judged that the driver becomes the ready state. In the case of the present example, the operation required for the driver to deactivate the autonomous driving is simplified.
  • a sixth example also is applied to a case where the deactivating action in Step S 1 described above is one of the steering operation, the acceleration operation, and the braking operation.
  • the sixth example is that the driver is performing the same operation as the deactivating action more strongly than the deactivating action.
  • the deactivating action is that the driver performs one of the steering operation, the acceleration operation, and the braking operation with a first operation amount or more.
  • the ready state is that the driver is performing the same operation as the deactivating action with a second operation amount or more.
  • the second operation amount is larger than the first operation amount.
  • the driver steps on the brake pedal as the deactivating action and then further depresses the brake pedal. Thereby, it is judged that the driver becomes the ready state.
  • the operation required for the driver to deactivate the autonomous driving is simplified.
  • a seventh example is that a level of attentiveness of the driver with respect to a front direction is greater than a reference value.
  • the level of attentiveness can be calculated based on the detected information from the driver monitor 42 (see FIG. 3 ).
  • the ready state detection unit 142 holds a map indicating a relationship between an input parameter and the level of attentiveness.
  • the input parameter includes the orientation of the face and the eye opening/closing degree of the driver detected by the driver monitor 42 .
  • the map is created such that the level of attentiveness becomes higher as an angle between the orientation of the face and the front direction becomes smaller.
  • the map is creased such that the level of attentiveness becomes higher as the eye opening degree becomes larger.
  • the ready state detection unit 142 can calculate the level of attentiveness based on the map and the detected information from the driver monitor 42 . The fact that the level of attentiveness is high suggests strongly that the driver is conscious of driving and ready for the manual driving.
  • An eighth example is that the driver utters a specific phrase.
  • the utterance by the driver can be detected through the microphone 84 (see FIG. 5 ).
  • the specific phrase is exemplified by “OK”, “ready”, and the like.
  • the ready state detection unit 142 can detect that the driver utters the specific phrase. The fact that the driver actively utters such the specific phrase suggests strongly that the driver is now ready.
  • a ninth example is that a waiting time T has elapsed after the deactivating action is detected in the above-described Step S 1 .
  • the waiting time T is set to a certain period of time (several seconds, for example). When the certain period of time has elapsed after the deactivating action of the driver is detected, it is expected that the driver is ready.
  • the waiting time T may be variably set depending on a surrounding situation at the time when the deactivating action is detected. For example, if a preceding vehicle detected by the environment sensor 70 exists nearby, the waiting time T is set to be longer. As a result, the autonomous driving control continues for a longer time and thus collision with the preceding vehicle can be avoided at least by the autonomous driving control.
  • Step S 2 If the ready state detection unit 142 does not detect the ready state (Step S 2 ; No), the processing proceeds to Step S 3 . On the other hand, if the ready state detection unit 142 detects the ready state (Step S 2 ; Yes), it means that the second condition is satisfied. In this case, the processing proceeds to Step S 4 .
  • Step S 3 Deactivation Standby Control
  • the deactivation standby control unit 143 performs the deactivation standby control that continues at least a part of the autonomous driving control.
  • the above-described Step S 2 i.e. the ready state detection processing
  • the deactivation standby control is performed until the ready state is detected at Step S 2 .
  • the deactivation standby control is performed during a period from the time t 1 when the deactivating action is detected to the time t 2 when the ready state is detected.
  • the deactivation standby control unit 143 continues at least one of the steering control, the acceleration control, and the deceleration control included in the autonomous driving control.
  • the control to be continued is hereinafter referred to as “continued control”.
  • Control other than the continued control is hereinafter referred to as “non-continued control”.
  • the deactivation standby control unit 143 sends information designating the continued control and the non-continued control to the autonomous driving execution unit 130 .
  • the autonomous driving execution unit 130 continues the continued control and terminates the non-continued control.
  • the followings can be considered as examples of a combination of the continued control and the non-continued control.
  • the combination of the continued control and the non-continued control is predetermined.
  • the steering control is most important in terms of safety. Therefore, at least the steering control is classified into the continued control.
  • the acceleration control is classified into the non-continued control.
  • the combination of the continued control and the non-continued control is determined depending on a type of the deactivating action.
  • the deactivating action is the braking operation or the acceleration operation
  • the acceleration control and the deceleration control are set as the non-continued control
  • only the steering control is set as the continued control.
  • the deactivating action is neither the braking operation nor the acceleration operation
  • only the acceleration control is set as the non-continued control
  • the steering control and the deceleration control are set as the continued control.
  • the following combination also is possible. That is, even when the deactivating action is the braking operation or the acceleration operation, only the acceleration control is set as the non-continued control, and the steering control and the deceleration control are set as the continued control. When the deactivating action is to turn OFF the autonomous driving switch 85 , all controls are set as the continued control.
  • the combination of the continued control and the non-continued control is determined depending on the state of the driver.
  • the state of the driver is detected by the driver state sensor 40 .
  • whether or not the driver is holding the steering wheel can be determined based on the detected information from the steering wheel touch sensor 41 .
  • the steering control is set as the continued control.
  • the combination of the continued control and the non-continued control is determined depending on a situation around the vehicle.
  • the situation around the vehicle is detected by the environment sensor 70 .
  • the deceleration control is set as the continued control, assuming that it may take time for the driver to be ready.
  • the situation around the vehicle can be obtained also from the map data. For example, when a distance to a curve start point ahead is less than a threshold value, at least the steering control is set as the continued control, assuming that it may take time for the driver to be ready.
  • a control amount regarding the non-continued control may be gradually decreased. This also contributes to suppression of rapid change in the vehicle behavior.
  • a decrease property e.g. a decrease period, a decrease rate
  • the control amount can be determined depending on a situation around the vehicle. The situation around the vehicle is detected by the environment sensor 70 . For example, when a lateral distance to a lateral vehicle traveling in an adjacent lane is less than a threshold value, the decrease period of the control amount may be set to be longer than a default value.
  • the deactivation standby control unit 143 may provide the driver with notification through the display device 81 and the speaker 83 of the HMI unit 80 .
  • the followings can be considered as the example of the notification:
  • notification to urge the driver to prepare for the manual driving e.g. “Please prepare for manual driving”
  • the autonomous driving deactivation unit 140 instructs the autonomous driving execution unit 130 to deactivate the autonomous driving. In response to the instruction, the autonomous driving execution unit 130 deactivates the autonomous driving. At this time, the control amount regarding the autonomous driving control may be gradually decreased, as in the case of Step S 3 described above.
  • the autonomous driving system 1 does not deactivate the autonomous driving just by detecting the deactivating action of the driver.
  • the autonomous driving system 1 deactivates the autonomous driving only after detecting the ready state after the detection of the deactivating action. That is, the autonomous driving system 1 waits until the driver becomes ready for the manual driving after the detection of the deactivating action of the driver. Therefore, it is possible to obviate such a situation that the vehicle continues to travel while neither the driver nor the autonomous driving system 1 engages in vehicle driving.
  • the driver need not feel rushed under pressure to start the manual driving as soon as possible after the deactivating action. These relieve psychological pressure applied to the driver and the driver's sense of unease.
  • the driver can deactivate the autonomous driving without worry. This contributes to increase in the driver's confidence in the autonomous driving system 1 . That is to say, it becomes easier for the driver to utilize the autonomous driving system 1 .
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JP6849415B2 (ja) 2021-03-24
US20180150074A1 (en) 2018-05-31
EP3336643A1 (fr) 2018-06-20
EP3336643B1 (fr) 2020-12-16

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